JP7407357B2 - Component mounting equipment and component storage detection method - Google Patents

Description

The present invention relates to a component mounting apparatus equipped with a tray feeder that pulls out component storage bodies from a magazine and supplies components thereto, and a method for detecting component storage bodies in this component mounting apparatus.

2. Description of the Related Art Conventionally, a component mounting apparatus is known in which a supplied component is picked up by a mounting head and mounted on a board. There are various types of devices for feeding components in such a component mounting apparatus, and a tray feeder is known as one type of device. The tray feeder mainly feeds large irregularly shaped parts, and the parts are fed while being housed in a parts storage body. The parts storage body includes a tray having a pocket for storing parts, and a pallet to which the tray is attached.

The tray feeder has a rack section and a pull-out table. A magazine is removably attached to the rack. The magazine has a plurality of slots lined up in the vertical direction, and the component storage bodies are inserted into the slots. The drawer table moves up and down with respect to the rack part and pulls out the component storage body inserted into the slot. The pull-out table from which the component storage body has been pulled out is moved to a predetermined component supply height by the lifting mechanism, and the components are supplied to the mounting head.

In such a tray feeder, each slot included in the magazine is configured such that both ends of the component storage body are supported from below by a pair of rails located at the same height. Here, if the component storage object is not inserted in a horizontal position but in an oblique position with the heights of both ends being different, spanning multiple slots located adjacent to each other in the vertical direction, the component storage object should be It cannot be withdrawn by the withdrawal stage. For this reason, conventionally, rails located at the same height are marked with the same mark, and when a worker inserts a parts storage object into a slot while relying on the marks, the parts storage object automatically becomes horizontal. (For example, Patent Document 1 below).

International Publication No. 2005/112535

However, as mentioned above, even if the same mark is attached to a pair of rails located at the same height, the operator may not be able to recognize the mark depending on the situation, and the part that was intended to be inserted into the slot in a horizontal position may not be able to recognize the mark. There could be a case where the storage body was actually in an oblique position. If a component storage object is inserted into the slot in an oblique position, it will not be possible to pull out the component storage object even if you try to pull it out, and there is a risk that the component mounting work will be forced to stop and the component mounting work will stagnate. There was a problem.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a component mounting apparatus and a component storage detection method that can prevent the stagnation of component mounting work caused by inserting a component storage into a slot in an oblique position. do.

The component mounting apparatus of the present invention includes a tray feeder that pulls out a component storage body storing components from a plurality of vertically arranged slots in a magazine and supplies the components, and a tray feeder that supplies the components. A component mounting apparatus comprising a mounting head that picks up and mounts on a board, the height of the component storage object inserted into the slot based on detection information indicating that the component storage object in the slot is detected. the tray feeder is capable of holding the two magazines vertically side by side; The abnormality regarding the height of the component storage body is detected.

The component storage body detection method of the present invention includes a tray feeder that pulls out a component storage body that stores components from a plurality of slots provided vertically in a magazine and supplies the parts, and a tray feeder that supplies the components. A method for detecting a component storage object in a component mounting apparatus equipped with a mounting head that picks up the component and mounts it on a board, the method comprising: inserting the component storage object into the slot based on an inspection result in which the component storage object is detected in the slot; the tray feeder is capable of holding the two magazines vertically side by side; An abnormality regarding the height of the component storage body newly inserted into any of the slots is determined.

According to the present invention, it is possible to prevent stagnation of component mounting work caused by inserting a component storage body into a slot in an oblique position.

A side view of main parts of a component mounting apparatus according to an embodiment of the present invention A perspective view of a tray feeder included in a component mounting apparatus according to an embodiment of the present invention A perspective view of a tray feeder included in a component mounting apparatus according to an embodiment of the present invention A side view of a tray feeder in an embodiment of the present invention (a) (b) Perspective views of a magazine included in a tray feeder in an embodiment of the present invention A front view of a magazine included in a tray feeder according to an embodiment of the present invention A front view of a portion of a magazine included in a tray feeder according to an embodiment of the present invention A perspective view of a portion of a rack section included in a tray feeder according to an embodiment of the present invention (a) (b) Partial perspective views of a tray feeder in an embodiment of the present invention A block diagram showing a control system of a component mounting apparatus according to an embodiment of the present invention (a) (b) A partial plan view of a tray feeder in an embodiment of the present invention (a) (b) A partial plan view of a tray feeder in an embodiment of the present invention (a) (b) (c) Diagrams showing examples of postures of a component storage body inserted into a magazine included in a tray feeder according to an embodiment of the present invention A diagram showing the movement of a detection sensor with respect to a magazine included in a tray feeder according to an embodiment of the present invention. (a) (b) (c) Diagrams illustrating a procedure for detecting the attitude of a component storage body by a component mounting apparatus according to an embodiment of the present invention (a) (b) (c) Diagrams illustrating a procedure for detecting the attitude of a component storage body by a component mounting apparatus according to an embodiment of the present invention (a) (b) (c) Diagrams illustrating a procedure for detecting the attitude of a component storage body by a component mounting apparatus according to an embodiment of the present invention A diagram showing criteria for determining the attitude of a component storage body by a component mounting apparatus according to an embodiment of the present invention.

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a component mounting apparatus 1 in one embodiment of the present invention. The component mounting apparatus 1 is a device for mounting components 3 on a board 2, and includes a conveyor 11, a tray feeder 12, and a mounting head 13. In this embodiment, for convenience of explanation, the left-right direction as seen from the worker OP is the X-axis direction, and the front-back direction as seen from the worker OP is the Y-axis direction. Further, the vertical direction is the Z-axis direction.

The conveyor 11 conveys the substrate 2 in the X-axis direction and positions it at a predetermined working position. The tray feeder 12 is a component supply device, and supplies the components 3 by positioning the component storage body 14 containing the components 3 at a predetermined component supply height. The mounting head 13 is moved by the operation of the head moving mechanism 13K, and the component 3 supplied by the tray feeder 12 is suctioned (picked up) by the suction nozzle 13a and mounted onto the substrate 2.

2, 3, and 4, the tray feeder 12 includes a cart 21, a rack section 22, a magazine 23, a pull-out table 24, and a lifting mechanism 25. The truck 21 is movable on the floor by a plurality of wheels 21a, and the rack section 22 is attached to the front part of the truck 21. The magazine 23 is detachably attached within the rack section 22. A pull-out table 24 and a lifting mechanism 25 are provided at the rear of the rack section 22.

The rack section 22 is formed into a box shape as a whole, and has a magazine mounting section 31 which is a space penetrating therein in the Y-axis direction (FIG. 3). Two magazine attachment sections 31 are arranged in the rack section 22 in parallel in the Z-axis direction. A magazine door 32 that covers the front sides of the two magazine mounting sections 31 is provided on the front side of the rack section 22 (on the side of the operator OP) so as to be openable and closable.

In FIG. 5A, the magazine 23 as a whole has a shape opening in the Y-axis direction, and includes left and right side plates 41, a top plate 42, and a bottom plate 43. The left and right side plates 41 face each other in the X-axis direction, and are connected by a top plate 42 and a bottom plate 43 extending in the X-axis direction. The magazine 23 has a plurality of slots 44 arranged in the vertical direction. Each slot 44 supports the component storage body 14 inserted in a horizontal position from its lower surface side.

In FIG. 5(b), the component storage body 14 includes a plate-shaped pallet 51 and one or more trays 52 detachably attached to the pallet 51. The tray 52 is provided with a plurality of pockets 52P arranged in a matrix. The parts 3 are stored in each pocket 52P.

In FIGS. 5A and 6, each of the plurality of slots 44 included in the magazine 23 includes a pair of rails 45 that support both ends of the component storage body 14 inserted in a horizontal position. Therefore, on the inner surfaces of the left and right side plates 41 of the magazine 23, a plurality of rails 45 are arranged in the Z-axis direction. A pair of rails 45 constituting one slot 44 are located at the same height. Each rail 45 projects from the inner surface of each of the left and right side plates 41 toward the inside of the magazine 23 in the horizontal direction (in the X-axis direction).

In this embodiment, each of the plurality of slots 44 of the magazine 23 supports both ends of the component storage body 14 inserted in a horizontal position from below by a pair of rails 45 located at the same height. The structure is as follows.

The magazine 23 is attached to a magazine attachment section 31 provided in the rack section 22. When attaching the magazine 23 to the magazine attachment section 31, the magazine 23 is inserted horizontally (rearward) into the magazine attachment section 31 from the front side of the rack section 22 with the magazine door 32 open (FIG. 3).

When the magazine 23 in which the plurality of component storage bodies 14 are inserted into the slots 44 is attached to the magazine attachment part 31, the plurality of component storage bodies 14 in the magazine 23 are set in the rack part 22 all at once. Note that the component storage body 14 can also be set in the rack portion 22 by inserting the component storage body 14 into the slot 44 of the magazine 23 that is attached to the rack portion 22 .

When the two magazines 23 are attached to the two upper and lower magazine attachment sections 31 of the rack section 22, there are Z slots 44 in the rack section 22 corresponding to the total number of slots 44 possessed by the upper and lower magazines 23, respectively. aligned in the axial direction. In order to control the tray feeder 12, each of the plurality of slots 44 lined up in the rack section 22 is given a slot number as a serial number.

In this embodiment, slot numbers "1", "2", "3", ..., "n", ..., "N" are assigned to a total of N slots 44 in order from the top. be done. The slot 44 of each magazine 23 is also given a local slot number unique to that magazine 23. The local slot number is written on the front end surface 41T of each of the left and right side plates 41 of each magazine 23 (FIG. 7; see also FIGS. 5(a) and (b) for the position of the front end surface 41T).

The component storage bodies 14 are inserted into each of the plurality of slots 44 of the magazine 23 by the operator OP according to predetermined production data. The production data records the slot number of the slot 44 into which the component storage body 14 is to be inserted, and the type of component 3 to be stored in the component storage body 14 inserted into the slot 44 having the slot number. Therefore, the operator OP inserts the component storage body 14 containing the component 3 of the type recorded in the production data into the slot 44 having the slot number recorded in the production data. When the operator OP inserts the component storage object 14 into the slot 44 with the slot number "n" in a horizontal position according to the production data, the left and right ends of the component storage object 14 form the left and right ends of the slot 44 with the slot number "n". It is supported from below by a pair of rails 45.

The distance between two rails 45 adjacent to each other in the Z-axis direction is smaller than the height of the component storage body 14 (height from the bottom of the pallet 51 to the top of the tray 52). Therefore, two component storage bodies 14 cannot be inserted simultaneously into two slots 44 adjacent in the Z-axis direction (that is, two slots 44 with consecutive slot numbers). Therefore, when the component storage body 14 is inserted into the slot 44 with the slot number "n", the slot 44 with the slot number "n-1" located one step above the slot 44 and the slot 44 located one step below the slot 44. The component storage body 14 is never inserted into the slot 44 with the number "n+1".

In FIG. 5(b), a pair of engaged blocks 54 are provided facing each other in the X-axis direction on the rear end side (the side opposite to the operator OP) of the upper surface of the pallet 51 of the parts storage body 14. ing. A concave portion 55 that is recessed from the inside to the outside in the X-axis direction is provided at the ends of each of the pair of engaged blocks 54 on opposing sides.

When the magazine 23 into which a plurality of component storage bodies 14 have been inserted is set in the rack section 22, the rear end of each component storage body 14 will be in a state of protruding rearward from the rack section 22 (FIG. 8). In addition, a pair of engaged blocks 54 of each component storage body 14 are also positioned to protrude rearward from the rack section 22, and the engaged blocks 54 of the plurality of component storage bodies 14 are arranged along the Z-axis in the rear region of the rack section 22. They are lined up in the direction.

In FIG. 4, the drawer table 24 has a box shape with a flat top surface. An engagement rod 61 extending in the X-axis direction is provided on the upper surface side of the pull-out table 24 (see also FIGS. 9(a) and 9(b)). The engagement rod 61 moves above the pull-out table 24 in the Y-axis direction by the operation of the pull-out mechanism 62 built into the pull-out table 24 (arrow A shown in FIG. 4).

In FIG. 4, the elevating mechanism 25 includes front and rear guide columns 71 extending upward from the cart 21, a ball screw 72 extending in the Z-axis direction, and an elevating motor that drives the ball screw 72 to rotate around the Z-axis. It is equipped with 73. The ball screw 72 is screwed into a nut portion 24N provided at the rear of the drawer table 24, and the guide column 71 guides the movement of the drawer table 24 in the Z-axis direction. When the lifting motor 73 operates, the ball screw 72 rotates around the Z axis. When the ball screw 72 rotates, the pull-out table 24 moves up and down in the rear region of the rack section 22 (arrow B shown in FIG. 4).

In FIG. 10, a control device 80 (see also FIG. 1) included in the component mounting apparatus 1 controls the operation of each part of the component mounting apparatus 1. Specifically, the control device 80 controls the transport of the substrate 2 by the transport conveyor 11 and the positioning operation to the working position. The control device 80 also controls the feeding operation of the parts 3 by the tray feeder 12. Specifically, the moving operation of the engagement rod 61 by the drawing mechanism 62 and the lifting and lowering movement of the drawing table 24 by the lifting mechanism 25 are controlled. Further, the control device 80 controls the suction operation of the component 3 by the mounting head 13, and controls the movement of the mounting head 13 by the head moving mechanism 13K. The control device 80 includes a storage section 80a. The storage unit 80a stores the above-mentioned production data and the like in addition to mounting program data that defines the operating procedures of each part.

In FIG. 10, a touch panel 81 is connected to a control device 80. The operator OP performs various inputs to the component mounting apparatus 1 by operating the touch panel 81. On the other hand, the control device 80 gives various commands to the operator OP through the touch panel 81 and notifies the operator OP of various information, warnings, and the like.

When pulling out the component storage object 14 from the slot 44 of the magazine 23 attached to the rack section 22, the control device 80 first operates the lifting motor 73 to move the component storage object 14 into the slot 44 into which the component storage object 14 to be pulled out is inserted. Move the drawer table 24 to a higher height. When the upper surface of the pull-out table 24 is located at the height of the slot 44, the pull-out mechanism 62 is operated to move the engagement rod 61 forward. Then, the left and right ends 61T of the engagement rod 61 are engaged with the concave portions 55 of the pair of engaged blocks 54 provided in the component storage body 14 (FIG. 11(a)→FIG. 11(b)).

When the left and right ends 61T of the engagement rod 61 engage with the pair of engaged blocks 54, the control device 80 operates the pull-out mechanism 62, moves the engagement rod 61 backward, and removes the component storage body 14. Place it on the top surface of the drawer table 24 (FIG. 11(b)→FIG. 12(a)→FIG. 12(b)). When the pulled out component storage body 14 is placed on the upper surface of the pull-out table 24, the lifting motor 73 is activated to raise the pull-out table 24 to the component supply height shown in FIG. When the pull-out table 24 is located at the component supply height, the components 3 stored in the component storage body 14 are ready to be picked up by the mounting head 13.

When the component storage body 14 is inserted into the slot 44 with the slot number "n" in a horizontal position, the left and right ends of the component storage body 14 are supported by a pair of rails 45 forming the slot 44 with the slot number "n". (FIG. 13(a)). On the other hand, when the component storage body 14 is inserted into the slot 44 with the slot number "n" not in a horizontal position but in an oblique position with the left and right ends having different heights (adjacent to each other in the vertical direction) When the component storage body 14 is inserted across a plurality of slots 44, one end thereof is supported by the rail 45 forming the slot 44 with the slot number "n", and the other end is supported by the rail 45 forming the slot 44 with the slot number "n". It is in a state where it is supported by the rail 45 that constitutes the slot 44 with slot number "n-1" (FIG. 13(b)). Alternatively, one end is supported by the rail 45 forming the slot 44 with slot number "n", and the other end is supported by the rail 45 forming the slot 44 with slot number "n+1" ( Figure 13(c)).

As shown in FIG. 13(b) or 13(c), when the component storage body 14 is inserted into the slot 44 in an oblique position, the left and right ends 61T of the engagement rod 61 are inserted into the component storage body. 14 of the pallet 51 to be engaged, and the component storage body 14 cannot be pulled out onto the pull-out table 24. Therefore, when inserting the component storage body 14 into the slot 44, the operator OP needs to be careful that the component storage body 14 is inserted into the slot 44 in a horizontal position.

The present embodiment is configured to prevent the operator OP from accidentally inserting the component storage body 14 into the slot 44 in an oblique position. Further, even if the component storage body 14 is accidentally inserted into the slot 44 in an oblique position, the configuration is such that this can be detected before the pull-out mechanism 62 pulls out the component storage body 14. These configurations will be explained below.

In FIG. 7, the plurality of slots 44 included in the magazine 23 are configured such that first slots 44a and second slots 44b are alternately arranged in the vertical direction. Here, the first slot 44a is a slot 44 in which the width W of each of the pair of rails 45 has a first dimension W1. Further, the second slot 44b is a slot 44 in which the width W of each of the pair of rails 45 has a second dimension W2 different from the first dimension W1 (larger than the first dimension W1).

As described above, in this embodiment, the pair of rails 45 constituting each of the plurality of slots 44 included in the magazine 23 have the same width W, and constitute other slots 44 located adjacent to each other in the vertical direction. It has a width W different from that of the pair of rails 45.

Therefore, when inserting the component storage body 14 into the slot 44 of the magazine 23, the operator OP must visually check that the width W of the rail 45 of the slot 44 is the same on the left and right sides (both ends of the component storage body 14). By checking and further checking while touching the rails 45 with both hands, it is possible to confirm that the two rails 45 are at the same height position. This can prevent the operator OP from accidentally inserting the component storage body 14 into the slot 44 in an oblique position.

In addition, as shown in FIG. 7, an identification mark 46 having the same identifier is located near each of the pair of rails 45 that constitute the slot 44 (here, on the front end surfaces 41T of the left and right side plates 41 of the magazine 23). is provided. The identification mark 46 has a different identifier from the identification marks 46 attached near each of the pair of rails 45 constituting the other slots 44 located adjacent to each other in the vertical direction.

The identifier is, for example, a color, and in this embodiment, the color of the identification mark 46 provided corresponding to one slot 44 is the same as the color of the identification mark 46 provided corresponding to the slot 44 located one step above it. It is different from the color of the identification mark 46 provided corresponding to the slot 44 on the lower stage side. In the present embodiment, a white mark 46a to which the identifier is colored white, which is a first color, and a black mark 46b, to which the identifier is colored black, which is a second color different from the first color, are Z. They are arranged alternately in the axial direction.

When the operator OP inserts the component storage body 14 into the slot 44 of the magazine 23, the operator OP visually recognizes the identification mark 46 attached to a position near each of the pair of rails 45 that constitute the slot 44, and identifies the identification mark 46. It can be confirmed that the two rails 45 are at the same height position by seeing that the identifiers are the same on the left and right (if the identifier is a color, the color is the same). Therefore, it is possible to more reliably prevent the component storage body 14 from being accidentally inserted into the slot 44 in an oblique position.

4 and FIGS. 9(a) and 9(b), sensor mounting arms 91 are provided on the rear end side of the pull-out table 24 and extend rearward from the left and right ends of the pull-out table 24, respectively. A detection sensor 92 is attached to the tip (front end) of each of the sensor attachment arms 91. Two detection sensors 92 attached to two sensor attachment arms 91 are located opposite to each other in the X-axis direction. One of these two detection sensors 92 is a light projector 92a, and the other is a light receiver 92b.

In FIG. 9B and FIGS. 11A and 11B, the distance between the light emitter 92a and the light receiver 92b is larger than the dimension of the component storage body 14 (of the pallet 51) in the X-axis direction. The light emitter 92a emits inspection light 93 in the horizontal direction (X-axis direction) towards the light receiver 92b, and when the light receiver 92b receives the inspection light 93, it outputs a light reception signal to the control device 80 (FIG. 10 ).

The control device 80 causes the light projector 92a to project the inspection light 93 while the drawer table 24 is positioned at the height of the slot 44. When the component storage body 14 is not inserted into the slot 44 at the height of the drawer table 24, the inspection light 93 emitted by the light emitter 92a is not blocked by anything, so the inspection light 93 is emitted by the light receiver 92b. (FIG. 9(a)). At this time, the detection sensor 92 enters a "non-detection state" in which it does not detect the component storage body 14. On the other hand, when the component housing 14 is inserted into the slot 44, the light is not received by the light receiver 92b because it is blocked by the component housing 14 inserted into the slot 44 (FIG. 9(b)). At this time, the detection sensor 92 enters the "detection state" in which it detects the component storage body 14.

Here, when the inspection light 93 is blocked by the component storage body 14, when the component storage body 14 is in a horizontal position, the engaged block 54 of the component storage body 14 (specifically, the engaged block 54 on the projector 92a side block 54) (FIG. 9(b)). On the other hand, when the component storage body 14 is in an oblique position, the inspection light 93 is blocked by the top or bottom surface of the component storage body 14 .

In this embodiment, the detection sensor 92 determines whether or not the inspection light 93 projected in the horizontal direction is blocked by the component storage 14 at the component storage 14 at the height of the inspection light 93. 14 is detected.

In FIG. 10, the control device 80 includes an attitude detection section (detection section) 80b. The attitude detection unit 80b performs an attitude check (orientation detection) to detect the attitude of the component storage body 14 inserted into the slot 44 based on the detection information of the detection sensor 92. Specifically, the posture check is based on whether the detection sensor 92 is in a "non-detection state" or a "detection state" at the timing when the detection sensor 92 is raised and lowered and the inspection light 93 is emitted. , by checking the presence or absence of the component storage body 14 at a plurality of heights in a fixed area in the vertical direction including the slot 44.

The attitude check is performed based on the production data stored in the storage unit 80a if it is known that the parts storage body 14 is inserted into the slot 44 with the slot number "n". This is executed before the component storage object 14 is pulled out to the drawer table 24 (for example, immediately after the component storage object 14 is inserted into the slot 44). The posture check procedure (method for detecting the posture of the component storage body 14) is such that the posture detection unit 80b moves the detection sensor 92 up and down to check the presence or absence of the component storage body 14 at a plurality of heights in a fixed area in the vertical direction including the slot 44. After carrying out the step of checking (inspection step), the step of determining the attitude of the component storage object 14 inserted into the slot 44 based on the inspection result (detection information of the detection sensor 92) obtained in the inspection step The flow is to carry out the judgment process).

When detecting the attitude of the component storage body 14 in the slot 44 with the slot number "n", first, the attitude detection unit 80b operates the lifting mechanism 25 to raise and lower the drawer table 24, and the detection sensor 92 is set to the slot number "n". They are positioned at the height of each slot 44 in the order of ``n-1'', ``n'', and ``n+1'' (FIG. 14). Then, each time the detection sensor 92 is positioned at the height of each slot 44, the test light 93 is emitted from the projector 92a to determine the state of the detection sensor 92 (either the "detection state" or the "non-detection state"). (inspection process). Here, the area in the vertical direction including the positions of the slots 44 with slot numbers "n-1", "n", and "n+1" corresponds to a fixed area in the vertical direction including slot "n".

Cases in which the component storage body 14 is inserted into the slot 44 with slot number "n" include the following first case, second case, third case, and fourth case. In the first case, as shown in FIGS. 15(a), (b), and (c), the component storage body 14 is inserted into the slot 44 with the slot number "n" in a horizontal position. In the second case, as shown in FIGS. 16(a), (b), and (c), one end of the component storage body 14 is inserted into the slot 44 with the slot number "n". In this case, since the body 14 is in an oblique position, the other end is inserted into the slot 44 with slot number "n-1".

In the third case, as shown in FIGS. 17(a), (b), and (c), one end of the component storage body 14 is inserted into the slot 44 with the slot number "n". In this case, since the body 14 is in an oblique position, the other end is inserted into the slot 44 with slot number "n+1". The fourth case is a case in which the component storage body 14 itself is not inserted into the slot 44 with slot number "n" (a case in which it is neither in a horizontal position nor in an oblique position).

In the first case in which the component storage body 14 is inserted into the slot 44 with the slot number "n" in a horizontal position, the inspection light 93 of the detection sensor 92 is not blocked at the position of the slot number "n-1" (Fig. 15 (a)), the position of slot number "n" is blocked by the component storage body 14 (FIG. 15(b)), and the position of slot number "n-1" is not blocked (FIG. 15(c)). In this case, the inspection results obtained in the inspection process are "non-detected", "detected", and "non-detected" in the order of slot numbers "n-1", "n", and "n+1" ("No. (See column 1 case). Based on this inspection result, the control device 80 determines that the component storage object 14 inserted into the slot 44 with the slot number "n" is in a horizontal position (attitude determination step), and moves the component storage object 14 to the drawer table 24. It is determined that withdrawal is possible, and a flag of "OK" is set.

In the second case where the component storage body 14 is inserted into the slot 44 with the slot number “n” in an oblique position, the inspection light 93 of the detection sensor 92 is emitted by the component storage body 14 at the position of the slot number “n-1”. The inspection light 93 is blocked by the component storage body 14 even at the slot number "n" position (FIG. 16(b)), and is not blocked at the slot number "n+1" position (FIG. 16(a)). 16(c)). In this case, the inspection results obtained in the inspection process are "detection", "detection", and "non-detection" in the order of slot numbers "n-1", "n", and "n+1" ("second detection" in FIG. 18). (See “Case” column). Based on this inspection result, the control device 80 determines that the component storage object 14 inserted into the slot 44 with the slot number "n" is in an oblique position (attitude determination step), and moves the component storage object 14 to the drawer table. 24, it is determined that withdrawal is not possible. Then, a flag of "NG" is set, and a predetermined notification is given to the operator OP via the touch panel 81 as a notification means (that the component storage object 14 inserted in the slot 44 with the slot number "n" is in an oblique position). (notification process).

In the third case where the component storage body 14 is inserted in the slot 44 with the slot number "n" in an oblique position, the inspection light 93 of the detection sensor 92 is not blocked at the position of the slot number "n-1" (see FIG. 17(a)), the position of slot number "n" is blocked by the component storage body 14 (FIG. 17(b)), and the position of slot number "n+1" is also blocked by the component storage body 14 (FIG. 17(c)). ). In this case, the inspection results obtained in the inspection process are "non-detected", "detected", and "detected" in the order of slot numbers "n-1", "n", and "n+1" ("3rd" in FIG. 18). (See “Case” column). Based on this inspection result, the control device 80 determines that the component storage object 14 inserted into the slot 44 with the slot number "n" is in an oblique position (attitude determination step), and moves the component storage object 14 to the drawer table. 24, it is determined that withdrawal is not possible. Then, a flag of "NG" is set, and a predetermined notification is sent to the operator OP via the touch panel 81 (notification that the component storage object 14 inserted in the slot 44 with the slot number "n" is in an oblique position). (Notification process).

In the fourth case where the component storage body 14 is not inserted into the slot 44 with the slot number "n", the inspection light 93 of the detection sensor 92 is transmitted to the slot number "n", "n-1", "n+1". ” is not obstructed in any of the above. In this case, the inspection results obtained in the inspection process are "non-detected", "non-detected", and "non-detected" in the order of slot numbers "n-1", "n", and "n+1" ("non-detected" in FIG. 18). (See column 4). Based on this inspection result, the control device 80 determines that the component storage body 14 is not inserted into the slot 44 with slot number "n" (attitude determination step). Then, a flag of "NG" is set, and a predetermined notification is given to the operator OP via the touch panel 81 (notification that the component storage body 14 is not inserted into the slot 44 with the slot number "n" (notification step).

As in the first case above, when it is determined in the attitude determination process that the attitude of the component storage body 14 in the slot 44 is horizontal, the work of reinserting the component storage body 14 into the slot 44 is not necessary. Not necessary. On the other hand, as in the second and third cases, when it is determined in the attitude determination step that the attitude of the component storage body 14 in the slot 44 is an oblique attitude, the insertion of the component storage body 14 into the slot 44 is not possible. Repair work is required, and the operator OP must pull out the inserted component storage body 14, place the component storage body 14 in a horizontal position, and reinsert it again. Further, as in the fourth case, when it is determined in the posture determination step that the component storage object 14 is not inserted into the slot 44, the operator OP selects the component storage object 14 to be inserted into the slot 44. It is necessary to prepare and insert it into the slot 44.

By checking the posture of the component storage object 14 in this way, even if the operator OP accidentally inserts the component storage object 14 into the magazine 23 in an oblique posture, this can be detected in advance. Therefore, it is possible to reinsert the component storage body 14, and it is possible to prevent a situation in which the component storage body 14 cannot be pulled out.

The posture check needs to be performed at least before the operation of pulling out the component storage body 14 whose posture is to be checked from the magazine 23 is executed. As mentioned above, the timing is immediately after the parts storage body 14 is inserted into the slot 44 (immediately after a setup change due to switching of the model to be produced, or when the parts storage body 14 is replaced to change the type of parts to be supplied). (immediately after) is preferable. For component storage bodies 14 that have already been inserted into the slots 44 at the start of production, it is preferable to carry out the process immediately after the start of production.

The posture check may be performed on all the slots 44 lined up in the rack section 22, but only on the slots 44 in which it is known that the component storage object 14 is inserted based on production data. It may also be executed. The former method has the advantage of being able to detect parts storage objects 14 that have been accidentally inserted into slots 44 that are not supposed to be inserted according to the production data, while the latter method minimizes the time required to check the posture. There is an advantage that the takt time can be improved by keeping it at .

In the above example, when detecting the attitude of the component storage object 14 inserted into the slot 44 with the slot number "n", in addition to the slot 44 with the slot number "n", the one slot 44 on the upper side and one slot 44 are detected. The presence or absence of the component storage object 14 was detected for the slot 44 on the lower stage side, but this means that when the component storage object 14 is inserted into the slot 44 of slot "n", the component storage object 14 is inserted into the slot 44 of slot "n" This is because it was assumed that the component storage body 14 would not be inserted into the slot 44. Detection of the posture of the component storage body 14 may be performed at multiple heights in a fixed area in the vertical direction including the target slot 44, and it is not necessary to detect the component storage at the positions of the upper slot 44 and the lower slot 44. It is not necessary to conduct an examination of the body 14. For slots 44 in which component storage objects 14 may be stored in the upper and lower slots 44, the presence or absence of component storage objects 14 at multiple heights in a certain area between slightly above and slightly below the slots 44 is checked. Just check it out.

As explained above, in the component mounting apparatus 1 (the attitude detection method of the component storage object 14 in the component mounting apparatus 1) according to the present embodiment, an abnormality regarding the height of the component storage object 14 inserted into the slot 44 is detected. In this case, a predetermined notification (notification that the component storage body 14 inserted into the slot 44 with the slot number "n" is in an oblique position) is made. Therefore, even if the operator OP accidentally inserts the parts storage object 14 into the magazine 23 in an oblique position, this can be detected in advance, and it becomes possible to take measures to reinsert the parts storage object 14. . Therefore, a situation in which it becomes impossible to pull out the component storage body 14 does not occur, and the component mounting work is stagnated due to the component storage body 14 being inserted in an oblique position (the operation of the component mounting apparatus 1 is delayed). Forced stoppage, etc.) can be prevented.

Although the embodiments of the present invention have been described so far, the present invention is not limited to what has been described above, and various modifications are possible. For example, in the above-described embodiment, the slots 44 lined up in the rack section 22 are numbered sequentially from the top, but they may be numbered from the bottom. Further, in the above-described embodiment, in detecting the attitude of the component storage body 14 inserted into the slot 44 with the slot number "n", the position of the component storage object 14 from the upper slot 44 of the slot 44 with the slot number "n" The presence or absence of the component storage object 14 was detected in order toward the slot 44, but the component storage object 14 was detected in order from the lower slot 44 of the slot 44 with slot number "n" to the upper slot 44. It may also be possible to detect the presence or absence of. Further, it is sufficient to detect the presence or absence of the component storage body 14 in the slots 44 with slot numbers "n-1", "n", and "n+1", and the order of detection does not matter.

To provide a component mounting device and a component storage detection method capable of preventing stagnation of component mounting work caused by inserting a component storage into a slot in an oblique position.

1 Component mounting device 2 Board 3 Component 12 Tray feeder 13 Mounting head 14 Component storage 23 Magazine 25 Lifting mechanism 44 Slot 44a First slot 44b Second slot 45 Rail 46 Identification mark 80b Attitude detection section 81 Touch panel (notification means)
92 Detection sensor 93 Inspection light W Width W1 First dimension W2 Second dimension

Claims (14)

A tray feeder that pulls out a component storage body containing components from a plurality of vertically arranged slots in a magazine and supplies the components, and a mounting system that picks up the components supplied by the tray feeder and mounts them on a board. A component mounting device comprising a head,
comprising a detection unit that detects an abnormality regarding the height of the component storage body inserted into the slot, based on detection information on the detection of the component storage body in the slot,
The tray feeder can hold the two magazines vertically side by side,
A component mounting apparatus, wherein the detection unit detects the abnormality regarding the height of the component storage body newly inserted into the slot of at least one of the two magazines. The component mounting apparatus according to claim 1, further comprising a notification means for notifying the abnormality regarding the height of the component storage body when the abnormality is detected. comprising a detection sensor that detects the component storage body in the slot using the projected inspection light,
The detection sensor detects the presence or absence of the component storage object in the slot located at the height of the inspection light based on whether or not the inspection light projected in a horizontal direction is blocked by the component storage object. The component mounting apparatus according to claim 1 or 2. The detection unit detects the attitude of the component storage body inserted into the slot by raising and lowering the detection sensor to check the presence or absence of the component storage body at a plurality of heights in a fixed area in the vertical direction including the slot. The component mounting apparatus according to claim 3, wherein the component mounting apparatus detects. 4. The component mounting apparatus according to claim 3, wherein the detection sensor is raised and lowered by a lifting mechanism that raises and lowers the component storage body pulled out from the slot to position it at a component supply height of the tray feeder. 4. The component mounting apparatus according to claim 3, wherein the detection sensor detects the presence or absence of the component storage body in each slot for all of the plurality of slots. 4. The component according to claim 3, wherein the detection sensor detects the presence or absence of the component storage object only for the slot in which it is known that the component storage object is inserted based on pre-stored production data. Mounting equipment. A tray feeder that pulls out a component storage body containing components from a plurality of vertically arranged slots in a magazine and supplies the components, and a mounting system that picks up the components supplied by the tray feeder and mounts them on a board. A method for detecting a component storage body in a component mounting apparatus equipped with a head, the method comprising:
a determination step of determining an abnormality regarding the height of the component storage object inserted into the slot, based on an inspection result in which the component storage object in the slot is detected;
The tray feeder can hold the two magazines vertically side by side,
A method for detecting a component storage object, wherein in the determining step, an abnormality regarding the height of the component storage object newly inserted into the slot of at least one of the two magazines is determined. 9. The method for detecting a component storage according to claim 8, further comprising the step of notifying the abnormality regarding the height of the component storage when it is determined that the abnormality exists. The component mounting apparatus includes a detection sensor that detects the component storage body in the slot using a projected inspection light,
The detection method includes an inspection step of detecting the component storage body in the slot using a projected inspection light,
In the inspection step, detecting the presence or absence of the component storage object in the slot at the height of the inspection light based on whether or not the inspection light projected in a horizontal direction is blocked by the component storage object. The method for detecting a component storage according to claim 8 or 9. 11. The method for detecting a component storage object according to claim 10, wherein, in the inspection step, the presence or absence of the component storage object is checked at a plurality of heights in a fixed area in the vertical direction including the slot by raising and lowering the detection sensor. 11. The method for detecting a component storage object according to claim 10, wherein the inspection step and the determination step are performed when the component storage object is newly inserted into the slot. The method for detecting a component storage object according to claim 10, wherein the inspection step and the determination step are performed only for the slot into which it is known that the component storage object has been inserted based on pre-stored production data. . 11. The component storage detection method according to claim 10, wherein the inspection step and the determination step are performed for all of the plurality of slots.

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